Aaron Smith Garrett Murray Brad Miller Dylan Tootle Steven Kipikash Agenda Overview and Needs Analysis Tasks Assignments Gantt Chart Camera Full Specs and Vision Demo Target Identification Demo ID: 699358
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Slide1
Missile Defense
Group 12
Aaron Smith
Garrett Murray
Brad Miller
Dylan Tootle
Steven KipikashSlide2
Agenda
Overview and Needs Analysis
Tasks AssignmentsGantt ChartCamera Full Specs and Vision DemoTarget Identification DemoTracking InformationAiming Platform DemoIntercept Launcher DemoCurrent Status of BudgetWebsiteQuestions
Aaron SmithSlide3
Project Overview
Aaron SmithSlide4
Aaron SmithSlide5
What is the scenario?
Projectile d = 20.3 cm V = 43.8cm3M = 122gAverage Horizontal Velocity
5.6m/s
Average Flight Time
0.9s
Defense Zone Area
0.7m
2
Max Projectile Height
2m
Aaron SmithSlide6
Aaron Smith
4Slide7
What do we need for success?
Identify the projectile
Record projectile’s characteristicsSpeed, Direction, AccelerationCalculate projectile’s trajectoryFire “defense dart” and alter missile's current course0.2 seconds0.2 seconds
0.1 seconds
0.4 seconds
Aaron SmithSlide8
Overall Progress Report
Gantt Chart
Aaron SmithSlide9
Camera
Slide10
Camera
Basler ace acA1300-200uc Color USB 3.0
Why we chose this camera
Frame rate(203 fps)Resolution (1.31 MP)USB 3.0Color (differentiation between target and surroundings)Online Resources and softwareEase of use
Dylan TootleSlide11
Camera
3.5 mm C Series Fixed Focal Length Lens
Why we chose this lens
Chosen with assistance from Edmund OpticsFocal and sensor length allow for an increased field of viewDylan TootleSlide12
See CameraSlide13
Tracking
OpenCV
Python
Aaron SmithSlide14
Tracking Information
Toss the ballSlide15
Calculate x and y velocity from two frames
Vx = ∆dx/tVy = ∆dy/t
Calculate Intercept x and y coordinates
y= V
y
t+
(½)(9.81)t
2
x= V
x
t
Projectile Flight Path
Steven KipikashSlide16
Camera Grid System
Calculate two X velocities and two Y velocities from three frames
Vx1 = (x2 - x1)/t1Vy1 = (y2 - y1)/t1
V
x2
=
(x3 - x2)
/t
2
V
y2
=
(y3 - y2)
/t
2 Calculate X and Y accelerationsAx = (V
x2
- V
x1
)/(t
1
+ t
2
)
A
y
= (V
y2
- V
y1
)/(t
1
+ t
2
)
Calculate Intercept x and y coordinates
Y = y
3
+ V
y2
t
t
+
(½)(A
y
)t
t
2
X = x
2
+
V
x2
t
t
+
(½)(Ax)tt2
Steven KipikashSlide17
Tracking
Predict the ballSlide18
Aiming Platform
Holding Torque
74 kg·cm7.3 N·mNo-load Speed78 RPMResolution
0.088°
Rotation
360°
Max Current
4.1 A @ 12V
Voltage
12 V
L
oad Speed
75 RPM
Steps Per 45
°
512
ScorpionX MX-64 Pan Tilt
Preloaded Firmware
Arduino 1.0.6 Compatible
FTDI-USB connection
ArbotiX-M Robocontroller
16MHz AVR microcontroller
16 Digital inputs
3-pin headers (gnd, vcc, signal) on all 8 analog inputs
BradSlide19
Aiming Software
We have separated the aiming software into 2 different parts:
Taking in the calculated intercept point and sending a signal to the pan/tilt interface
Implementing a signal to “fire” the missileC code is used to control the pan/tilt interface that is connected to an Arduino ArbotiX-M RobocontrollerThe Arduino ArbotiX-M Robocontroller offers a higher processing rate which allows the turret have time to point in the direction to where it was commanded to. BradSlide20
Aiming Platform Motion Calculations
The Servo’s position is represented by a number called the position ID, a number that tells where the servo to point.
The bottom servo(Pan) position ID
Center = 204890 Degrees to the right = 1024 90 Degrees to the left = 3072The top servo(Tilt) position IDStarting point = 2049Facing the floor = 1023In order to figure out where the turret needs to be pointed to obstruct the target, calculations will need to be made.BradSlide21
Aiming Platform Motion Calculations (
Aerial
View)
5 m
Turret
Where target is thrown
Where target lands
4
m
Theta
A
C
B
A = 2048 + 364 = 2412 Position ID
B =
2048 Position ID
C
= 2048 - 364 = 1684 Position ID
Total Number of Steps in Range = 728 Steps
# of Steps = 32/0.088 = 364
Brad
Theta = 32
°Slide22
Aiming Platform Motion Calculations (Side View)
Brad
turret
1 m
1
m
1 m
C
theta
t
heta
Theta= 14.03°
# of steps in the range: 160
Position IDs
A(top of range) = 1843
B(center) = 1683
C(bottom of range) = 1523
B
A
5 m
5 mSlide23
Turret Demo
Show TurretSlide24
Intercept Launcher
Specifications
Max launching pressure: 105 PSI
Approximate speed of projectile: 15 (m/s)Paintball barrel used for increased accuracyCircuit DesignGarrett Murray
Ball Throw and Hit
Stationary Ball and Hit
Slide25
Interceptor Demo
Fire TurretSlide26
Budget Final
Slide27
Budget Final
TOTAL
$4,821.82
Projectile
$15.00
Mounting(Brad)
$80.00
Turret
$694.08
Mounting(Aaron)
$105.39
Launcher
$135.55
Missiles 2 (Brad)
$36.74
Computer
$2,459.78
Compressor #2
281.85
Camera
$924.49
Backdrop
38.94
Paintballs
$50.00
Left Over
$178.18
Steven KipikashSlide28
Challenges Faced
Slide29
Communication between separate programs
Code conversions
Turret accuracySlide30
Website
Slide31
eng.fsu.edu/~millbr
BradSlide32
Questions?